C3: Consensus Complementarity Control

Main Paper: Consensus Complementarity Control

Build (Noble)    Build (Jammy)    Coverage

This repository contains the reference implementation of the Consensus Complementarity Control (C3) algorithm. For more in-depth examples, see dairlib.
Officially supported OS: Ubuntu 22.04.

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Table of Contents

• Setup
• Build Instructions
• Testing & Coverage
• Running Examples
• Directory Structure
• Reference

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Setup

1. Install Bazel or Bazelisk:
   You can install Bazelisk (a user-friendly launcher for Bazel) or Bazel directly. Bazelisk is recommended as it automatically manages Bazel versions.

   To install Bazelisk:

   sudo apt-get update
   sudo apt-get install -y curl
   sudo curl -L https://github.com/bazelbuild/bazelisk/releases/latest/download/bazelisk-linux-amd64 -o /usr/local/bin/bazel
   sudo chmod +x /usr/local/bin/bazel

   For more details and to find a specific version, visit the Bazelisk releases page. Choose a version compatible with your system and project requirements.

   Or, to install Bazel directly:
   Follow the instructions at Bazel's official installation guide.

2. Clone C3 (do not cd into the directory yet):

   git clone --filter=blob:none [email protected]:DAIRLab/c3.git

3. Install Drake and its dependencies:

   git clone --depth 1 --branch v1.35.0 https://github.com/RobotLocomotion/drake.git
   sudo drake/setup/ubuntu/install_prereqs.sh

4. Install Gurobi 10.0:
   Follow the instructions at Drake's Gurobi setup page to install Gurobi 10.0.

5. (Optional) Remove Drake clone:
   You may delete the Drake directory after installing dependencies.

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Build Instructions

1. Change to the C3 directory:

   cd c3

2. Build the repository using Bazel:

   bazel build ...

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Testing and Coverage

• Run all unit tests:

  bazel test ... --test_output=all

• Run a specific test:

  bazel test //systems:systems_test

• Run coverage:

  bazel coverage --combined_report=lcov ...
  genhtml --branch-coverage --output genhtml "$(bazel info output_path)/_coverage/_coverage_report.dat" # Generates the HTML report to be viewed inside the genhtml folder

Running Examples

This repository provides several C++ and Python examples demonstrating how to use the C3 library for different systems and workflows.

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Quick Start

• C++ Examples:
  See the C3 Standalone Example, C3 Controller Example, and LCS Factory System Example sections in the examples README for build and run instructions.

• Python Examples:
  See the Python Examples section in the examples README for how to build and run the Python scripts using Bazel.

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For more information, including how to select different problems, visualize results, and understand the system architectures, refer to the examples/README.md file.

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Directory Structure

c3/
├── bindings/          # Python bindings and tests
├── core/              # Core algorithm implementation
├── examples/          # Example applications and simulations
├── systems/           # Drake systems and tests
├── multibody/         # algorithms for computation in multibody environments
├── third_party/       # External dependencies
└── MODULE.bazel       # Bazel module file

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Reference

For a detailed explanation of the C3 algorithm, please refer to the main paper. Additional resources and in-depth examples can be found in the dairlib repository.

Citation

If you use C3 in your research, please cite:

@article{Aydinoglu2024,
  title = {Consensus Complementarity Control for Multi-Contact MPC},
  author = {Aydinoglu, Alp and Wei, Adam and Huang, Wei-Cheng and Posa, Michael},
  year = {2024},
  month = jul,
  journal = {IEEE Transactions on Robotics (TRO)},
  youtube = {L57Jz3dPwO8},
  arxiv = {2304.11259},
  doi = {10.1109/TRO.2024.3435423},
  url = {https://ieeexplore.ieee.org/document/10614849}
}